G Language Overview; List Of G-Language Commands - Omron CS1W-MC221 - 02-2008 Operation Manual

G Language Overview

Tasks and Programs
7-2 G Language Overview
7-2-1

List of G-language Commands

Code
G00 POSITIONING
G01 LINEAR INTERPOLATION
G02 CIRCULAR INTERPOLATION (CLOCKWISE)
G03 CIRCULAR INTERPOLATION (COUNTER-
CLOCKWISE)
G04 DWELL TIMER
G10 PASS MODE
G11 STOP MODE
G13 IN-POSITION CHECK OFF MODE
G17 CIRCULAR PLANE SPECIFICATION (X-Y)
G18 CIRCULAR PLANE SPECIFICATION (X-Z)
(See
note.)
G19 CIRCULAR PLANE SPECIFICATION (Y-Z)
(See
note.)
G20 CIRCULAR PLANE SPECIFICATION (X-U)
(See
note.)
G21 CIRCULAR PLANE SPECIFICATION (Y-U)
(See
note.)
G22 CIRCULAR PLANE SPECIFICATION (Z-U)
(See
note.)
G26 REFERENCE ORIGIN RETURN
G27 WORKPIECE ORIGIN RETURN
G28 ORIGIN SEARCH
G29 ORIGIN UNDEFINED
A maximum of 100 programs can be managed by the MC Unit. The number of
programs that can be managed per task depends on the number of tasks as
shown in the following table. These figures include subroutines.
Number of tasks
1
2
3
4
Note The same program number cannot be used for different tasks.
Name
Maximum number of
programs (CS1W-MC421)
100 programs
50 programs/task
33 programs/task
25 programs/task
Function
Positions up to two or four axes simultaneously with
PTP control at the maximum feed rate.
Performs linear interpolation on up to two or four
axes simultaneously at the specified interpolation
feed rate.
Performs 2-axis circular interpolation in the clockwise
direction at the specified interpolation feed rate.
Performs 2-axis circular interpolation in the
counterclockwise direction at the specified
interpolation feed rate.
Waits for the specified period of time.
Performs operations one-by-one in sequence without
deceleration to stop.
Performs the next operation after completing
positioning.
Starts the next operation without waiting for
positioning to be completed.
Sets the X-Y plane as the plane for circular
interpolation.
Sets the X-Z plane as the plane for circular
interpolation.
Sets the Y-Z plane as the plane for circular
interpolation.
Sets the X-U plane as the plane for circular
interpolation.
Sets the Y-U plane as the plane for circular
interpolation.
Sets the Z-U plane as the plane for circular
interpolation.
Moves to the reference origin.
Moves to the workpiece origin.
Performs an origin search in the specified axis.
Makes the origin undefined.
Section 7-2
Maximum number of
programs (CS1W-MC221)
100 programs
50 programs/task
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